A Multi-Objective Trajectory Planning Method for Space Manipulator in On-Orbit Servicing

This paper addresses the trajectory planning problem of a space manipulator in on-orbit servicing. Considering the imbalance between efficiency and cost during certain on-orbit servicing missions, a multi-objective trajectory planning method is proposed using a chaotic mapping and crisscross based Dragonfly Algorithm to obtain the optimal trajectory. A multi-objective fitness function is designed considering time, energy, and impact. Through ground-based full physics simulation experiments, the method proves effective in avoiding local optima, demonstrating stable convergence to the optimal solution with high speed and precision, and achieving a balanced approach to predefined objectives. Theoretical analysis and experimental results affirm that the multi-objective trajectory planning method proposed in this paper allows for rapid and stable trajectory planning as needed, exhibiting stability and practical utility.